urtware / src / urt_topic.c @ 5c6cb22f
History | View | Annotate | Download (3.912 KB)
| 1 | 1fb06240 | skenneweg | /*
|
|---|---|---|---|
| 2 | µRtWare is a lightweight publish/subscribe middleware for real-time
|
||
| 3 | applications. It was developed as part of the software habitat for the
|
||
| 4 | Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
|
||
| 5 | |||
| 6 | Copyright (C) 2018..2020 Thomas Schöpping et al.
|
||
| 7 | |||
| 8 | This program is free software: you can redistribute it and/or modify
|
||
| 9 | it under the terms of the GNU General Public License as published by
|
||
| 10 | the Free Software Foundation, either version 3 of the License, or
|
||
| 11 | (at your option) any later version.
|
||
| 12 | |||
| 13 | This program is distributed in the hope that it will be useful,
|
||
| 14 | but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||
| 15 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||
| 16 | GNU General Public License for more details.
|
||
| 17 | |||
| 18 | You should have received a copy of the GNU General Public License
|
||
| 19 | along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||
| 20 | */
|
||
| 21 | |||
| 22 | 7d9678db | skenneweg | #include <urtware.h> |
| 23 | |||
| 24 | 1fb06240 | skenneweg | /******************************************************************************/
|
| 25 | /* LOCAL DEFINITIONS */
|
||
| 26 | /******************************************************************************/
|
||
| 27 | |||
| 28 | /******************************************************************************/
|
||
| 29 | /* EXPORTED VARIABLES */
|
||
| 30 | /******************************************************************************/
|
||
| 31 | |||
| 32 | /******************************************************************************/
|
||
| 33 | /* LOCAL TYPES */
|
||
| 34 | /******************************************************************************/
|
||
| 35 | |||
| 36 | /******************************************************************************/
|
||
| 37 | /* LOCAL VARIABLES */
|
||
| 38 | /******************************************************************************/
|
||
| 39 | |||
| 40 | /******************************************************************************/
|
||
| 41 | /* LOCAL FUNCTIONS */
|
||
| 42 | /******************************************************************************/
|
||
| 43 | |||
| 44 | /******************************************************************************/
|
||
| 45 | /* EXPORTED FUNCTIONS */
|
||
| 46 | /******************************************************************************/
|
||
| 47 | 7d9678db | skenneweg | |
| 48 | /**
|
||
| 49 | * @brief Initialize the topic.
|
||
| 50 | *
|
||
| 51 | 5198dfae | skenneweg | * @param[in] topic The topic to initialize. Must not be NULL.
|
| 52 | * @param[in] id Unique, numeric identifier of the topic.
|
||
| 53 | 7d9678db | skenneweg | *
|
| 54 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK on success.
|
| 55 | * Returns URT_STATUS_TOPIC_DUPLICATE if another topic with the same identifier already exists.
|
||
| 56 | 7d9678db | skenneweg | */
|
| 57 | 1f7ffcff | skenneweg | urt_status_t urtTopicInit(urt_topic_t* topic, urt_topicid_t id) |
| 58 | {
|
||
| 59 | urt_topic_t.next = NULL;
|
||
| 60 | urt_topic_t.id = id; |
||
| 61 | 5c6cb22f | skenneweg | urtMutexInit(topic->lock); |
| 62 | urtEventSourceInit(topic->evtSource); |
||
| 63 | 1f7ffcff | skenneweg | urt_topic_t.numHrtSubscribers = 0;
|
| 64 | 5c6cb22f | skenneweg | urtCondvarInit(topic->hrtReleased); |
| 65 | void* payload = NULL; //TODO: Replace |
||
| 66 | urtMessageInit(topic->mandatoryMessage, payload); |
||
| 67 | topic->latestMessage = &topic->mandatoryMessage; |
||
| 68 | 1f7ffcff | skenneweg | #if (URT_CFG_PUBSUB_QOS_RATECHECKS)
|
| 69 | urt_topic_t.hrtSubscribers = nullptr; |
||
| 70 | //add later: timer init;
|
||
| 71 | #endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */ |
||
| 72 | #if (URT_CFG_PUBSUB_PROFILING)
|
||
| 73 | urt_topic_t.numMessagesPublished = 0;
|
||
| 74 | urt_topic_t.numMessagesDiscarded = 0;
|
||
| 75 | urt_topic_t.numSubscribers = 0;
|
||
| 76 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
||
| 77 | 5c6cb22f | skenneweg | topic->latestMessage->next = topic->latestMessage; |
| 78 | urtMutexLock(topic->lock); |
||
| 79 | urt_topic_t* topicTemp = topic; |
||
| 80 | while (topicTemp != NULL && topicTemp->id < id) |
||
| 81 | topicTemp = topicTemp->next; |
||
| 82 | |||
| 83 | if (topicTemp == NULL) |
||
| 84 | {
|
||
| 85 | //TODO: Append self to core's list of topic
|
||
| 86 | urtMutexUnlock(topic->lock); |
||
| 87 | return URT_STATUS_OK;
|
||
| 88 | } |
||
| 89 | else if (topicTemp->id > id) |
||
| 90 | {
|
||
| 91 | topicTemp->next = topic; |
||
| 92 | urtMutexUnlock(topic->lock); |
||
| 93 | return URT_STATUS_OK;
|
||
| 94 | } |
||
| 95 | else
|
||
| 96 | {
|
||
| 97 | urtMutexUnlock(topic->lock); |
||
| 98 | return URT_STATUS_TOPIC_DUPLICATE;
|
||
| 99 | } |
||
| 100 | 1f7ffcff | skenneweg | } |